Add asset tools/repair_tools/67f344a6d82c5ba58cba91626693c328
Browse files
.gitattributes
CHANGED
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@@ -7878,4 +7878,4 @@ dataset/tools/repair_tools/631032de44935daba3f822d2317ac070/affordance/mesh_part
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| 7878 |
dataset/tools/repair_tools/63bacc51855a5540abb51eae2094c09a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7879 |
dataset/tools/repair_tools/66c54d3de177591e9815b6984f6b4443/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7880 |
dataset/tools/repair_tools/67a31e32a4de54a6ae7c8200d3c93fdd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7881 |
-
dataset/tools/repair_tools/
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| 7878 |
dataset/tools/repair_tools/63bacc51855a5540abb51eae2094c09a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7879 |
dataset/tools/repair_tools/66c54d3de177591e9815b6984f6b4443/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7880 |
dataset/tools/repair_tools/67a31e32a4de54a6ae7c8200d3c93fdd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7881 |
+
dataset/tools/repair_tools/67f344a6d82c5ba58cba91626693c328/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/67f344a6d82c5ba58cba91626693c328/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,355 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hex key shaft",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft to pick up and reposition the hex key",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the shaft to insert the short end into a hex socket",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the long arm to apply turning torque when the handle is not used",
|
| 18 |
+
"confidence": 0.58
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"engage hex socket fasteners",
|
| 23 |
+
"transmit torque",
|
| 24 |
+
"reach into recessed screws",
|
| 25 |
+
"provide a secondary grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Bent silver metal rod with a smooth reflective finish, forming the long and short L-shaped working arms of the tool and occupying most of its length.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_3": {
|
| 31 |
+
"confidence": 0.9681228995323181,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.056413774262182415,
|
| 34 |
+
0.15026180259883404,
|
| 35 |
+
0.0010935239552054554
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6322817794817401,
|
| 39 |
+
"xyz": [
|
| 40 |
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0.35814477639854914,
|
| 41 |
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0.605495153565691,
|
| 42 |
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-0.32454227687975723
|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_6": {
|
| 47 |
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"confidence": 0.9638320207595825,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.39460731958235784,
|
| 55 |
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"xyz": [
|
| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_7": {
|
| 63 |
+
"confidence": 0.9634628295898438,
|
| 64 |
+
"position": [
|
| 65 |
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|
| 66 |
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0.16944247297942638,
|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.4488298795969731,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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-0.47070901408965055
|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
+
},
|
| 78 |
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"grasp_11": {
|
| 79 |
+
"confidence": 0.9542481899261475,
|
| 80 |
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"position": [
|
| 81 |
+
-0.01857368170749396,
|
| 82 |
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0.16505186073482037,
|
| 83 |
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0.012520421209046617
|
| 84 |
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],
|
| 85 |
+
"orientation": {
|
| 86 |
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"w": 0.5066431571825539,
|
| 87 |
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"xyz": [
|
| 88 |
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0.48056464513402036,
|
| 89 |
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0.5649520079013008,
|
| 90 |
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-0.4395447211554198
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_12": {
|
| 95 |
+
"confidence": 0.9527770280838013,
|
| 96 |
+
"position": [
|
| 97 |
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-0.008806959609501064,
|
| 98 |
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0.16658219508826733,
|
| 99 |
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0.01680463823140599
|
| 100 |
+
],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.45120460553768715,
|
| 103 |
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"xyz": [
|
| 104 |
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0.4830556254996635,
|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
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"grasp_13": {
|
| 111 |
+
"confidence": 0.949589729309082,
|
| 112 |
+
"position": [
|
| 113 |
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-0.06053690321277827,
|
| 114 |
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0.14149205945432186,
|
| 115 |
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0.014527799474308267
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.6056096583070936,
|
| 119 |
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"xyz": [
|
| 120 |
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0.3671342647637954,
|
| 121 |
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0.646613714652424,
|
| 122 |
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-0.2834432525654938
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_14": {
|
| 127 |
+
"confidence": 0.9493098855018616,
|
| 128 |
+
"position": [
|
| 129 |
+
0.039297032286413014,
|
| 130 |
+
0.16945339553058147,
|
| 131 |
+
0.026715301821241155
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
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"w": 0.5593390486051941,
|
| 135 |
+
"xyz": [
|
| 136 |
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0.5092787406255405,
|
| 137 |
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-0.5868411291581555,
|
| 138 |
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0.2887775652308902
|
| 139 |
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]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_19": {
|
| 143 |
+
"confidence": 0.9228374361991882,
|
| 144 |
+
"position": [
|
| 145 |
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0.04702379473019391,
|
| 146 |
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0.16868951730430126,
|
| 147 |
+
0.011439143592724577
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.635439323793766,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.49454754774980825,
|
| 153 |
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-0.5437133916760145,
|
| 154 |
+
0.23667559338330088
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"part_name": "handle grip",
|
| 162 |
+
"mask_color": "Blue",
|
| 163 |
+
"graspable": true,
|
| 164 |
+
"grasp_scenarios": [
|
| 165 |
+
{
|
| 166 |
+
"scenario": "grasp the handle to pick up the hex key securely",
|
| 167 |
+
"confidence": 0.95
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"scenario": "hold the handle while turning a fastener for higher comfort and control",
|
| 171 |
+
"confidence": 0.97
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"scenario": "use the handle as the main gripping area for orienting the tool before insertion",
|
| 175 |
+
"confidence": 0.93
|
| 176 |
+
}
|
| 177 |
+
],
|
| 178 |
+
"functional_labels": [
|
| 179 |
+
"provide main grip",
|
| 180 |
+
"improve turning comfort",
|
| 181 |
+
"increase handling control",
|
| 182 |
+
"stabilize tool orientation"
|
| 183 |
+
],
|
| 184 |
+
"semantic_description": "Cylindrical light beige plastic handle with a mostly matte smooth hard surface, medium size near one end of the tool, with an orange oval brand label visible on the side.",
|
| 185 |
+
"id": 2,
|
| 186 |
+
"grasp_group": {
|
| 187 |
+
"grasp_25": {
|
| 188 |
+
"confidence": 0.9862068295478821,
|
| 189 |
+
"position": [
|
| 190 |
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0.08374183916021138,
|
| 191 |
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-0.0003680475056171417,
|
| 192 |
+
0.043857707554707304
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
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"w": 0.048607568103801436,
|
| 196 |
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"xyz": [
|
| 197 |
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0.845913528589436,
|
| 198 |
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0.018226205783540617,
|
| 199 |
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-0.5307875393178892
|
| 200 |
+
]
|
| 201 |
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}
|
| 202 |
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},
|
| 203 |
+
"grasp_27": {
|
| 204 |
+
"confidence": 0.9860309362411499,
|
| 205 |
+
"position": [
|
| 206 |
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-0.0978898600442335,
|
| 207 |
+
-0.0614000428467989,
|
| 208 |
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-0.010076975537231192
|
| 209 |
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],
|
| 210 |
+
"orientation": {
|
| 211 |
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"w": 0.7277791470511512,
|
| 212 |
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"xyz": [
|
| 213 |
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|
| 214 |
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0.6743864317091498,
|
| 215 |
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0.09948976823853037
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
"grasp_30": {
|
| 220 |
+
"confidence": 0.9841667413711548,
|
| 221 |
+
"position": [
|
| 222 |
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0.029788869549520314,
|
| 223 |
+
0.005519098602235317,
|
| 224 |
+
0.08813272314728238
|
| 225 |
+
],
|
| 226 |
+
"orientation": {
|
| 227 |
+
"w": 0.19505912459166644,
|
| 228 |
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"xyz": [
|
| 229 |
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0.02617260046154679,
|
| 230 |
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-0.9684293350276334,
|
| 231 |
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0.15300835257118828
|
| 232 |
+
]
|
| 233 |
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}
|
| 234 |
+
},
|
| 235 |
+
"grasp_31": {
|
| 236 |
+
"confidence": 0.9840025305747986,
|
| 237 |
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"position": [
|
| 238 |
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-0.09061754203867167,
|
| 239 |
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-0.042674535885453224,
|
| 240 |
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-0.04339347136556171
|
| 241 |
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],
|
| 242 |
+
"orientation": {
|
| 243 |
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"w": 0.06709117554889638,
|
| 244 |
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"xyz": [
|
| 245 |
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-0.5316133723872731,
|
| 246 |
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-0.007471493521486572,
|
| 247 |
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-0.8442927059065806
|
| 248 |
+
]
|
| 249 |
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}
|
| 250 |
+
},
|
| 251 |
+
"grasp_35": {
|
| 252 |
+
"confidence": 0.9835782051086426,
|
| 253 |
+
"position": [
|
| 254 |
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-0.10090181685518473,
|
| 255 |
+
-0.026002975180745125,
|
| 256 |
+
-0.01772275668918155
|
| 257 |
+
],
|
| 258 |
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"orientation": {
|
| 259 |
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"w": 0.04105851310653431,
|
| 260 |
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"xyz": [
|
| 261 |
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-0.6335009210619373,
|
| 262 |
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-0.015054957644478617,
|
| 263 |
+
-0.7725051001549962
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"grasp_36": {
|
| 268 |
+
"confidence": 0.9833890795707703,
|
| 269 |
+
"position": [
|
| 270 |
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-0.09461223043035716,
|
| 271 |
+
-0.05466235615313053,
|
| 272 |
+
-0.025933210825314745
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
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"w": 0.08082559988975689,
|
| 276 |
+
"xyz": [
|
| 277 |
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-0.5985258684754766,
|
| 278 |
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-0.09463244659186865,
|
| 279 |
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-0.7913777272707232
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_37": {
|
| 284 |
+
"confidence": 0.9833610653877258,
|
| 285 |
+
"position": [
|
| 286 |
+
0.06915678374934942,
|
| 287 |
+
0.010565461590886116,
|
| 288 |
+
0.058197378093609586
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.1444240636841127,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.8825368532797849,
|
| 294 |
+
0.08835533670439982,
|
| 295 |
+
-0.43870688039719047
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
{
|
| 302 |
+
"part_name": "end cap",
|
| 303 |
+
"mask_color": "Pink",
|
| 304 |
+
"graspable": false,
|
| 305 |
+
"grasp_scenarios": [],
|
| 306 |
+
"functional_labels": [
|
| 307 |
+
"finish the handle end",
|
| 308 |
+
"cover handle core",
|
| 309 |
+
"provide a rounded contact end"
|
| 310 |
+
],
|
| 311 |
+
"semantic_description": "Small rounded white to light gray cap at the handle tip, likely plastic, with a smooth hard finish and slightly domed circular shape.",
|
| 312 |
+
"id": 8,
|
| 313 |
+
"grasp_group": {}
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"part_name": "ribbed collar",
|
| 317 |
+
"mask_color": "White",
|
| 318 |
+
"graspable": true,
|
| 319 |
+
"grasp_scenarios": [
|
| 320 |
+
{
|
| 321 |
+
"scenario": "pinch the ribbed collar to help pick up or stabilize the tool near the handle end",
|
| 322 |
+
"confidence": 0.49
|
| 323 |
+
},
|
| 324 |
+
{
|
| 325 |
+
"scenario": "grasp near the collar for short controlled adjustments",
|
| 326 |
+
"confidence": 0.41
|
| 327 |
+
}
|
| 328 |
+
],
|
| 329 |
+
"functional_labels": [
|
| 330 |
+
"add grip texture",
|
| 331 |
+
"improve anti-slip handling",
|
| 332 |
+
"protect handle end transition"
|
| 333 |
+
],
|
| 334 |
+
"semantic_description": "Short orange ribbed ring at the rear end of the handle, likely plastic, with a matte textured surface and compact cylindrical form.",
|
| 335 |
+
"id": 17,
|
| 336 |
+
"grasp_group": {}
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"part_name": "end mark",
|
| 340 |
+
"mask_color": "Lime Green",
|
| 341 |
+
"graspable": false,
|
| 342 |
+
"grasp_scenarios": [],
|
| 343 |
+
"functional_labels": [
|
| 344 |
+
"provide visual identification marking"
|
| 345 |
+
],
|
| 346 |
+
"semantic_description": "Tiny curved green marking on the circular handle end, appearing as a small printed or painted line on the smooth end-cap surface.",
|
| 347 |
+
"id": 9,
|
| 348 |
+
"grasp_group": {}
|
| 349 |
+
}
|
| 350 |
+
],
|
| 351 |
+
"quality_check": {
|
| 352 |
+
"success": false,
|
| 353 |
+
"message": "Mask colors and visual descriptions mismatch; collar and end-mark parts are misidentified."
|
| 354 |
+
}
|
| 355 |
+
}
|
dataset/tools/repair_tools/67f344a6d82c5ba58cba91626693c328/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6009f1c971dcac74933f09c16800dbbd38c4bf8ff57f777de6fdfb29a9b6112a
|
| 3 |
+
size 3784676
|